AUTOMATIC STEERING OF RICE PLANTER BY STEREO GUIDE SYSTEM

本研究的目的是利用立体导向系统开发水稻播种机的自动转向系统。制作了摄像机和图像处理板的试验装置，并在混凝土路面和越野路面上进行了试验。我们在摄像机和水稻播种机之间的20米距离上成功实现了第一条车道的自动转向。通过等距平移控制，继承了第二车道的自动转向功能。为了延长自动转向距离，通过计算机控制车辆的变焦，使摄像机与播种机之间的距离增加了34 m，实现了第一车道的自动转向。然而，在超过30米的距离上出现了接收信号失败的情况。我们的下一个问题是改进无线调制解调器和转向控制的精度。由于水稻播种机的旋转直径较大，必须采用计算机控制离合器和断裂，以缩短其旋转直径。对水稻播种机进行图像处理控制，不仅是直线运行，而且是转弯。

The object of this study is to develop the automatic steering of rice planter by the stereo guide system. Trial apparatus of a video-camera and image processing board was fabricated and tested on the concrete road and off-road. We succeeded the automatic steering for the first lane by 20 m distance between video-camera and rice planter. And we succeeded the automatic steering for the second lane by pan controlling at the same distance. In order to extend automatic steering distance, we can control the zooming by computer, and succeeded the automatic steering for the first lane by 34 m distance between video-camera and rice planter. However, there were the failure of receiving signal at more than 30 m distance. Our next problems are to improve the wireless modem and accuracy of steering control. Since the turning diameter was large, it is necessary that the clutch and the break controlling of rice planter by computer in order to shorten it. And it is necessary to control the rice planter by image processing not only straight running but also turning.